Research Article
Driving Risk Field and Control Strategies for Autonomous Vehicles at a Signalized Intersection
Table 1
Parameters of risk field model.
| No. | Notation | Explanation | Value |
| 1 | | Cost of wheel rolling on the solid white lane line | 1 | 2 | | Cost of wheel rolling on the solid yellow lane line | 3 | 3 | | Cost of wheel rolling on the dotted white lane line | 0.3 | 4 | | Vehicle weight of motorcycle, automobile, truck/bus | 0.3 t, 1.5 t, 10 t | 5 | | Unit cost of colliding with road boundary | 1 | 6 | | Unit cost of speeding over the limit of 50 mile/h | 1 | 7 | | Level of violating speed limit: 0–10%, 10%–20% | 0, 1 | 8 | | Reaction time to brake to stop | 1.5 s | 9 | | Reaction time to decide to drive through | 1.5 s | 10 | | Maximum deceleration | 5 m/s−2 | 11 | | Maximum vehicle acceleration | 3 m/s−2 | 12 | | Intersection width of Peachtree Street and 10th street | 110 feet, 90 feet | 13 | | Vehicle length | As in NGSIM | 14 | | Cost of moving past the stop line before green light | 1000 | 15 | | Unit collision cost with neighboring vehicle | 2 | 16 | | Driver reaction time | 1.5 s | 17 | | Safe distance between the vehicle and road elements | (i) 100 m for road sign | (ii) 0.3 m for road lines | (iii) 2 m for signal light | 18 | | A randomly large constant | 10000 | 19 | | Slope of Gaussian curve | 0.0064 | 20 | | Gaussian width slope | 0.001 | 21 | | Variability slope by vehicle steering angle | (i) for inner turning | (ii) for outer |
|
|